Ground plane segmentation for mobile robot visual navigation

@article{Pears2001GroundPS,
  title={Ground plane segmentation for mobile robot visual navigation},
  author={Nick Pears and Bojian Liang},
  journal={Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)},
  year={2001},
  volume={3},
  pages={1513-1518 vol.3}
}
We describe a method of mobile robot monocular visual navigation, which uses multiple visual cues to detect and segment the ground plane in the robot's field of view. Corner points are tracked through an image sequence and grouped into coplanar regions using a method which we call an H-based tracker. The H-based tracker employs planar homographies and is initialised by 5-point planar projective invariants. This allows us to detect ground plane patches and the colour within such patches is… CONTINUE READING

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